Lidar detection systems and methods that use multi-plane mirrors

ABSTRACT

Embodiments discussed herein refer to a relatively compact and energy efficient LiDAR system that uses a multi-plane mirror in its scanning system.

CROSS-REFERENCE TO A RELATED APPLICATION

This application claims the benefit of U.S. Provisional Application No. 62/615,280, filed Jan. 9, 2018, and U.S. Provisional Application No. 62/654,867, filed Apr. 9, 2018, the disclosures of which are incorporated herein in their entireties.

FIELD OF THE INVENTION

The present disclosure relates to light detection and ranging (LiDAR), and in particular to LiDAR systems and methods for use in a vehicle.

BACKGROUND

Systems exist that enable vehicles to be driven semi-autonomously or fully autonomously. Such systems may use one or more range finding, mapping, or object detection systems to provide sensory input to assist in semi-autonomous or fully autonomous vehicle control. Many of these systems are relatively large and bulky and thus require a relatively large amount of space on the vehicle. In addition, many of these systems are relatively power intensive.

BRIEF SUMMARY

Embodiments discussed herein refer to a relatively compact and energy efficient LiDAR system that uses a multi-plane mirror as part of its scanning system.

In one embodiment, a light detection and ranging (LiDAR) system for use with a vehicle is provided. The system can include a housing configured to be mounted to a windshield of the vehicle. The housing can include a transceiver module operative to transmit and receive light energy, a polygon structure that defines a lateral angle of the field of view of the LiDAR system, and a moveable mirror positioned to redirect light energy passing between the transceiver module and the polygon structure, the moveable mirror operative to control an exit angle of light being redirected by the polygon structure, wherein the exit angle corresponds to a particular angle within a vertical field of view of the LiDAR system

In another embodiment, a light detection and ranging (LiDAR) system can include a transceiver module operative to transmit and receive light energy, a structure that defines a lateral angle of the field of view of the LiDAR system, and a multi-plane mirror positioned to redirect light energy passing between the transceiver module and the structure, the multi-plane mirror operative to control an exit angle of light being redirected by the structure, wherein the exit angle corresponds to a particular angle within a vertical field of view of the LiDAR system.

In yet another embodiment, a light detection and ranging (LiDAR) system can include a transceiver module operative to transmit and receive light energy, a first mirror that defines a vertical angle of a field of view of the LiDAR system and oscillates in one of a direct drive mode and a resonant drive mode, and a second mirror that defines a horizontal angle of the field of view of the LiDAR system oscillates in one of a direct drive mode and a resonant drive mode, wherein the first mirror oscillates along a plane that is orthogonal to an oscillation plane of the second mirror.

A further understanding of the nature and advantages of the embodiments discussed herein may be realized by reference to the remaining portions of the specification and the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B illustrate side and front views of a vehicle having a windshield mounted LiDAR system, according to an embodiment;

FIG. 2 shows illustrative window mounted LiDAR system, according to an embodiment;

FIG. 3 shows another illustrative window mounted LiDAR system, according to an embodiment;

FIG. 4 shows illustrative block diagram arrangement of a fiber optical emitter transceiver module, according to an embodiment;

FIG. 5 shows illustrative block diagram arrangement of a semiconductor based emitter transceiver module, according to an embodiment;

FIG. 6 shows illustrative block diagram arrangement of a transceiver module, according to an embodiment;

FIG. 7 shows an illustrative process, according to an embodiment;

FIG. 8 shows another illustrative process, according to an embodiment;

FIG. 9 is a functional block diagram illustrating a vehicle system, according to an embodiment;

FIG. 10 shows another illustrative window mounted LiDAR system, according to an embodiment;

FIGS. 11A and 11B show an illustrative dual plane mirror arrangement for window mounted LiDAR systems, according to an embodiment;

FIG. 12 shows an illustrative diagram detailing benefits of a dual plan mirror in a window mounted LiDAR system, according to an embodiment;

FIG. 13 shows an illustrative diagram detailing vertical resolution benefits of a dual plane mirror in a window mounted LiDAR system, according to an embodiment; and

FIG. 14 shows an illustrative diagram detailing multi-plane mirrors and polygonal mirrors in a window mounted LiDAR system, according to an embodiment;

FIG. 15 shows an illustrative dual plane mirror system, according to an embodiment; and

FIG. 16 shows an illustrative mirror system, according to an embodiment.

DETAILED DESCRIPTION

Illustrative embodiments are now described more fully hereinafter with reference to the accompanying drawings, in which representative examples are shown. Indeed, the disclosed communication systems and methods may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Like numbers refer to like elements throughout.

In the following detailed description, for purposes of explanation, numerous specific details are set forth to provide a thorough understanding of the various embodiments. Those of ordinary skill in the art will realize that these various embodiments are illustrative only and are not intended to be limiting in any way. Other embodiments will readily suggest themselves to such skilled persons having the benefit of this disclosure.

In addition, for clarity purposes, not all of the routine features of the embodiments described herein are shown or described. One of ordinary skill in the art would readily appreciate that in the development of any such actual embodiment, numerous embodiment-specific decisions may be required to achieve specific design objectives. These design objectives will vary from one embodiment to another and from one developer to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming but would nevertheless be a routine engineering undertaking for those of ordinary skill in the art having the benefit of this disclosure.

FIGS. 1A and 1B illustrate side and front views of vehicle 100 having a windshield mounted LiDAR system (WMLS) 150, according to an embodiment. Vehicle 100 is a generic representation of any vehicle that can transport persons or cargo from one location to another. Vehicle 100 has windshield 110, which has an exterior surface 111 that is exposed to the elements and an interior surface 112 that interfaces with the interior cabin of the vehicle. WMLS 150 can be mounted to the interior surface 112 of windshield 110. As illustrated in the FIGS., WMLS 150 is center mounted on windshield 110 along center axis 120 and near roof 115, such that it is positioned near the location of rear view mirror 117. It should be understood that the position of WMLS 150 is merely illustrative and that WMLS 150 can be positioned anywhere on windshield 110. If desired, more than one WMLS 150 can be mounted to windshield 110. In addition, one or more LiDAR systems according to embodiments discussed herein can be mounted anywhere on vehicle 100.

WMLS 150 can be a front facing, forward scanning system that captures lateral and vertical resolution of the 3D space existing in front of the vehicle. The lateral and vertical resolution can define the field of view of WMLS 150. In some embodiments, the lateral field of view is greater than the vertical field of view. For example, the lateral field of view can range from 100-180 degrees, or 110-170 degrees, or can be 120 degrees, whereas the vertical field of view can range from 20-50 degrees, 25-45 degrees, or 40 degrees. The ranging distance of the field of view can be set to any desired distance. For example, the ranging distance may be 50-300 meters, 100-200 meters, or 150 meters.

FIG. 2 shows illustrative WMLS 200 according to an embodiment. WMLS 200 can include housing 201, circuit board 210, transceiver module 220, and polygon structure 230. Housing 201 is constructed to house circuit board 210, transceiver module 220, and polygon structure 230 and can be mounted to a windshield or to other structures located on a vehicle. Circuit board 210 may include circuitry such as control electronics, power electronics, communications circuitry, power and data busses, and any other components. In some embodiments, circuit board 210 may be a metal based circuit board to assist in heat dissipation (e.g., when silicon based laser emitters are used). Transceiver module 220 may include LiDAR emitter(s) and detectors and lenses required to control dispersal of light energy emitted by the emitter(s) and receipt of returning light being detected by the detectors. During operation, light energy is emitted by emitter(s) towards polygon structure 230, which redirects the light energy out of housing 201 and through the windshield. The light energy being directed by polygon structure 230 is cast in accordance with the field of view parameters of WMLS 200. That is, if WMLS 200 has a field of view with range of x, a lateral angle of y, and vertical angle of z, the range x can be controlled by the power of the emitter(s), the vertical angle z can be controlled by the lenses in transceiver module 220, and the lateral angle δ can be controlled by polygon structure 230. Light energy that is reflected back from objects in the field of view passes through the windshield, returns to polygon structure 230 and is redirected back to transceiver module 220, which detects the light energy with its detectors.

The facets number of polygon structure 230 is determined to accommodate horizontal FOV. The facet of polygon can be parallel or non-parallel to its symmetric axis. Polygon structure 230 may be constructed from a metal such as aluminum, a plastic, or other material that can have a polished or mirrored surface. Polygon structure may be selectively masked to control the lateral dispersion of light energy being projected in accordance with the field of view of WMLS 200. Polygon structure 230 is operative to spin about axis 231 in a first direction at a substantially constant speed. The axis 231 can be coincident to structure 230 symmetrical axis or it can be tilted with an angle to structure 230 symmetrical axis, which can effectively increase resolution in vertical angle of z. A motor such as a DC motor may control the spin of structure 230. The final shape of polygon can be trimmed (i.e., chop off the sharp corner or tip to reduce overall weight, chamfer the sharp edge to reduce air resistance) for better operation performance.

Transceiver module 220 may be placed on a movable platform (not shown) that can change the position or pointing of transceiver module 220 within housing 201. The platform may move the entire module 220 in the directions of arrow 221. Alternatively, the platform may rotate module 220 along the directions of arrow 222. Moving transceiver module 220 enables WMLS 200 to increase its resolution by capturing image data that exists in gaps caused by the lenses being used in transceiver module 220.

FIG. 3 shows illustrative WMLS 300 according to an embodiment. WMLS 300 can include housing 301, circuit board 310, transceiver module 320, polygon structure 330, and mirror 340. Housing 301 is constructed to house circuit board 310, transceiver module 320, polygon structure 330, and mirror 340 and can be mounted to a windshield or to other structures located on a vehicle. Circuit board 310, transceiver module 320, and polygon structure 330 may be similar to circuit board 210, transceiver module 220, and polygon structure 230 of FIG. 2 and thus a corresponding description need not be repeated. WMLS 300 differs from WMLS 200 with the addition of mirror 340 and repositioning of transceiver module 320. Transceiver module 320 may be placed in a permanently fixed position relative to circuit board 310 and operative to direct light energy towards mirror 340 and receive reflected light energy from mirror 340. Mirror 340 is operative to redirect light energy transmitted from transceiver module 320 to polygon structure 330. Mirror 340 is also operative to redirect light energy received from polygon structure 330 back to transceiver module 320 for detection by the detectors. Mirror 340 may be moved in directions shown by arrow 341 or 342 to increase the resolution of WMLS 300 by capturing image data that exists in gaps caused by the lenses being used in transceiver module 320.

FIG. 4 shows illustrative block diagram arrangement of a fiber optic transceiver module 400 according to an embodiment. Module 400 may be used as one of transceiver modules 220, 320, or 1020 of FIGS. 2, 3, and 10 , respectively. Module 400 can include fiber optic light source 410, lens 420, lens group 430, receiver lens 440, and detector group 450. Light energy emanating from fiber optic light source 410 may be collimated by lens 420, which may be, for example, a cylindrical lens, before the light energy is dispersed by lens group 430. Lens group 430 can include any suitable number of lenses to control, for example, the vertical angle of the field of view. As shown, lens group 430 can include lenses 431-434. Each of lenses 431-434 may independently direct light energy according to non-overlapping angles shown as vectors A, B, C, and D. Each lens corresponds to a particular range of angles. That is, lens 431 corresponds to angles of vector A, lens 432 corresponds to angles of vector B, lens 433 corresponds to angles of vector C, and lens 434 corresponds to angles of vector D. That the light energy being emitted from light source 410 for each of vectors A-D do not overlap also ensures that the light energy being received by detector group 450 also do not overlap. That is, light energy originating from lens 431 is received only by detector 451, light energy originating from lens 432 is received only by detector 452, light energy originating from lens 433 is received only by detector 453, and light energy originating from lens 434 is received only by detector 454.

Gaps may exist between the angles represented by vectors A-D. That is, gaps exist between vectors A and B (shown as A/B Gap), B and C (shown as B/C Gap), and C and D (shown as C/D Gap). In this case, the angle between A and D defines the vertical field of view. The LiDAR systems according to embodiments discussed herein take these gaps into account by moving transceiver module 220 (as shown in FIG. 2 ) or moving mirror 340 (as shown in FIG. 3 ), or moving dual plane mirror 1040 (as shown in FIG. 10 ). By moving either the transceiver module or mirror, the LiDAR system is able to fill the gaps with additional resolution in its task to create a 3D image of the space captured within systems field of view.

FIG. 5 shows illustrative block diagram arrangement of a semiconductor based emitter transceiver module 500 according to an embodiment. Module 500 may be used as one of transceiver modules 220, 320, or 1020 of FIGS. 2, 3, and 10 , respectively. Module 500 can include semiconductor based emitter light source 510, lens 520, lens group 530, receiver lens 540, and detector group 550. Light source 510 can include several semiconductor based light emitters. For example, in one embodiment, multiple emitters can fire laser pulses sequentially and/or simultaneously.

Light energy emanating from light source 510 may be collimated by lens 520, which may be, for example, a cylindrical lens, before the light energy is dispersed by lens group 530. Lens group 530 can include any suitable number of lenses to control, for example, the vertical angle of the field of view. As shown, lens group 530 can include lenses 531-534. Each of lenses 531-534 may independently direct light energy according to non-overlapping angles shown as vectors A, B, C, and D. Each lens corresponds to a particular range of angles, as explained above in connection with FIG. 4 . That is, lens 531 corresponds to angles of vector A, lens 532 corresponds to angles of vector B, lens 533 corresponds to angles of vector C, and lens 534 corresponds to angles of vector D. That the light energy being emitted from light source 510 for each of vectors A-D do not overlap also ensures that the light energy being received by detector group 550 also do not overlap. Detector group 550 may include several detector chips for each one of lenses 531-534 of lens group 530. Detector group 550 can include detector subgroups 551-554, where subgroups 551-554 are designed to detect signals emanating from lenses 531-534, respectively. Each of subgroups 551-554 may include individual detectors, labeled w-z. Inclusion of multiple detector chips per subgroup enables for reduced complexity of receiving optics 540 and further enables each subgroup to cover the returning angles from each one of lenses 531-534. If gaps exist between angles defined by vectors A-D (e.g., such as A/B Gap, B/C Gap, and C/D Gap), the LiDAR system can be oscillated to account for those gaps by moving transceiver module 220 (as shown in FIG. 2 ), moving mirror 340 (as shown in FIG. 3 ) or moving dual plane mirror 1040 (as shown in FIG. 10 ).

FIG. 6 shows illustrative block diagram arrangement of a transceiver module 600 according to an embodiment. Module 600 can include light source 610 (e.g., either fiber optic light source or silicon based emitter light sources), lens 620, lens 630, receiving lens 640, and detector group 650. Detector group 650 can resemble detector group 450 if the light source is fiber optic based, or detector group 650 can resemble detector group 550 if the light source includes multiple emitters. Transceiver module 600 differs from transceiver modules 400 and 500 in that there is substantially no gap between angles represented by vectors A-D. The angle between adjacent vectors, like A and B, or B and C, is very small and may be designed to represent as the vertical angular resolution. Thus, module 600 would be used in a system such WMLS 200 or 300 to produce the desired field of view. In this case, rotating angle of WMLS 200 or 300 defines the vertical field of view.

FIG. 7 shows an illustrative process 700 according to an embodiment. Process 700 may be implemented in a system such as WMLS 200 of FIG. 2 . Starting at step 710, light energy can be emitted from a transceiver module. The light energy can occupy a plurality of non-overlapping angles and is transmitted directly to a polygon structure. The plurality of non-overlapping angles define a vertical angle of a field of view of the LiDAR system. At step 720, the polygon structure can be rotated in a first direction, wherein the rotating polygon structure defines a lateral angle of the field of view of the LiDAR system. At step 730, a position of the transceiver module can be adjusted in a manner that results in an increase of resolution of a scene captured within the field of view.

It should be understood that the steps in FIG. 7 are merely illustrative and that additional steps may be added and the order to the steps may be rearranged.

FIG. 8 shows an illustrative process 800 according to an embodiment. Process 800 may be implemented in a system such as WMLS 300 of FIG. 3 . Starting at step 810, light energy is emitted from a transceiver module. The light energy occupies a plurality of non-overlapping angles and is transmitted directly to a mirror, which directs the light energy to a polygon structure. The plurality of non-overlapping angles define a vertical angle of a field of view of the LiDAR system. At step 820, the polygon structure is rotated in a first direction, wherein the rotating polygon structure defines a lateral angle of the field of view of the LiDAR system. At step 830, a position of the mirror is adjusted in a manner that results in an increase of resolution of a scene captured within the field of view. The mirror discussed in FIG. 8 may be similar to mirror 320 illustrated in FIG. 3 or mirror 1020 illustrated in FIG. 10 .

It should be understood that the steps in FIG. 8 are merely illustrative and that additional steps may be added and the order to the steps may be rearranged.

FIG. 10 shows illustrative WMLS 1000 according to an embodiment. WMLS 1000 can include housing 1001, circuit board 1010, transceiver module 1020, polygon structure 1030, and dual plane mirror 1040. Housing 1001 is constructed to house circuit board 1010, transceiver module 1020, polygon structure 1030, and dual plane mirror 1040 and can be mounted to a windshield or to other structures located on a vehicle. Housing 1001, circuit board 1010, transceiver module 1020, and polygon structure 1030 may be similar to housing 301, circuit board 310, transceiver module 320, and polygon structure 330 of FIG. 3 and thus a corresponding description need not be repeated. WMLS 1000 differs from WMLS 300 in that it may include dual plane mirror 1040. Dual plane mirror 1040 is operative to redirect light energy transmitted from transceiver 1020 to polygon 1030 and redirected returned light energy received from polygon structure 1030 back to transceiver module 1020 for detection by detectors (not shown).

Dual plane mirror 1040 may oscillate about axis 1050 in the direction as shown by arrow 1051. Dual plane mirror 1040 can be constructed as a mirror structure including reflective plane members 1041 and 1042 connected together at transition point 1043 and oriented at an angle, a, with respect to each other. When dual plane mirror 1040 oscillates about axis 1050, it partially rotates in a first direction along the path shown by arrow 1051 until reaches a first transition point, at which point it reverses direction and partially rotates in a second direction along the same path shown by arrow 1051 until it reaches a second transition point, at which point it reverses direction and partially rotates along the first direction. As dual plane mirror 1040 oscillates, reflective plate members 1041 and 1042 take turns redirecting light energy between polygon 1030 and transceiver 1020, depending on the instantaneous position of mirror 1040 within the oscillation cycle.

FIG. 11A shows illustrative dual plane mirror system 1100 according to an embodiment. Mirror system 1100 is a simplified version of system 1000 of FIG. 10 and includes transceiver 1110, dual plane mirror 1120, and polygon structure 1130. FIG. 11B shows dual plane mirror 1120 at different positions within an oscillation cycle and a corresponding exit beam angle of the light pulse emanating from transceiver 1110. The exit beam angle changes depending on the position of dual plane mirror 1120. The manner in which the light energy interacts with polygon structure 1130 corresponds to an angle within a vertical field of view of a LiDAR system. As dual plane mirror 1120 moves with time, the light energy transmitted from transceiver module 1110 scans a particular angle within the vertical field of view of the LiDAR system. It should be appreciated that the depiction of the arrows are merely illustrative.

A vertical scanning rate refers to the rate at which the LiDAR system can traverse its entire vertical field of view. The scanning rate can vary depending on the manner in which the dual plane mirror is driven. The dual plane mirror can be driven using a direct drive or a resonant drive. Direct drive is typically used for relatively slow scanning rates (e.g., up to around 30 Hertz) and a resonant drive is typically used for relatively faster scanning rates (e.g., greater than 5 Hertz). Direct drives may be limited in their ability to operate at faster scanning rates because the power required support the scanning rate is the cube of the frequency. This may be because a strong anti-current is needed to reverse direction. Thus, while a faster scan rate may be desirable, it may not be practical in implementation. For example, in a system such as WLMS 300, which uses a direct drive, increased scanning rates may be realized with the cost of a significant power penalty. This may be because significant energy must be expended to reverse direction of the single plane mirror's movement. In addition, because a single plane mirror is being used in a direct drive mode, the scanning density is relatively higher at the top and low ends of the vertical field of view, and the center region of the field of view has a relatively low scanning density. See, for example, chart 1310 of FIG. 13 , which shows illustrative scanning density of a system using a single plane mirror in direct drive mode.

In a system such as WLMS 1000, which uses a dual plane mirror, increased scanning rates can be achieved using a resonant drive mode. The resonant drive mode can leverage a “spring” or potential energy to operate at relatively higher frequencies without an exponential (e.g., cube of the frequency) power penalty. Using a dual plane mirror in resonance mode can result in a scanning density that is relatively higher in the middle portion of the field of view as compared to the top and bottom portions. See, for example, chart 1320 of FIG. 13 , which shows scanning density of a system using a dual plane mirror in a resonance mode.

FIG. 11B illustrates one complete oscillation cycle of dual plane mirror 1120, and further illustrates how one oscillation cycle is equivalent to two vertical scans of a LiDAR system such as WLMS 1000. For illustrative purposes, dual plane mirror 1120 starts its oscillation cycle at time, to, which is a location where light energy from transceiver 1120 interacts with a transition point between planes on dual plane mirror 1120, where dual plane mirror 1120 is moving in a counterclockwise direction, and where there is no exit beam. Discrete positions through time are illustrated, and one complete cycle is defined as follows: staring at time, to, counterclockwise motion to the point where dual plane mirror 1120 transitions from counterclockwise motion to clockwise motion (time t₂), clockwise motion through the starting position (time, t₄), to the point where dual plane mirror 1120 transitions from clockwise motion to counterclockwise motion (time, t₆), and counterclockwise motion until dual plane mirror 1120 reaches its initial position at time t₈.

At time to, dual plane mirror 1120 is rotating counterclockwise, and is located at a transition point between the two planes of dual plane mirror 1120. At time t₁, dual plane mirror 1120 continues rotating counterclockwise and the exit beam is at exit beam angle 1140. At angle 1140, the light energy emitted by transceiver 1110 interacts with a portion of polygon structure 1130 (as shown) and is directed at a negative angle with respect to a horizontal plane (shown by the dashed lines). At time t₂, dual plane mirror 1120 reaches a transition point wherein its velocity becomes zero before rotating clockwise. At time t₂ the exit beam is at angle 1150, which is directed at an angle coplanar with the horizontal plane (as shown by the dashed line). At time t₃, dual plane mirror 1120 continues rotating clockwise and reaches the same position as it occupied at time t₁. Exit beam angle 1140 may also exist at time, t₃. At time t₄, dual plane mirror 1120 continues rotating clockwise and reaches the same position it occupied at time to, a transition point between the two planes of dual plane mirror 1120. At time t₅, dual plane mirror 1120 continues rotating clockwise and has exit beam angle 1160, which shows that the light is redirected at a positive angle with respect to the horizontal plane (shown by the dashed line). At time t₆ dual plane mirror 1120 reaches a transition point wherein its velocity becomes zero before rotating counterclockwise. At time t₆, exit beam angle 1150 exists and is identical to the exit beam angles at times t₁ and t₃. At time t₇ dual plane mirror 1120 continues rotating counterclockwise and reaches the same position it occupied at time t₅, at which point it has exit beam angle 1160. At time t₈ dual plane mirror 1120 continues rotating counterclockwise and reaches the same position it occupied at times to and t₄, a transition point between the two planes of dual plane mirror 1120. It should be appreciated that the depiction of the arrows are merely illustrative.

FIG. 12 shows illustrative benefits of a dual plane mirror as compared to a single plane mirror. Mirror 1210 may be similar to mirror 340 and dual plane mirror 1220 may be similar to dual plane mirror 1040. FIG. 12 illustrates partial scanning cycles for mirror 1210 and dual plane mirror 1220 similar to the cycle illustrated in FIG. 11 . FIG. 12 shows illustrative velocity of the mirrors 1210 and 1220 and illustrates the exit angle. The velocities are marked as V and the exit angles are marked as EA. The exit angle can be co-planer with respect to a horizontal plane (or zero) or it can be negative or positive (to a certain degree) with respect to a horizontal plane. The partial cycles illustrated in FIG. 12 start at positions at time t_(m,0) for mirror 1210 and time t_(DP,0) for dual plane mirror 1220, where each mirror transitions from counterclockwise motion to clockwise motion. The partial cycles illustrated in FIG. 12 end at the positions at times t_(m,2) for mirror 1210 and t_(DP,6) for dual plane mirror 1220 where each mirror transitions from clockwise to counterclockwise motion. FIG. 12 thus represents half of the cycle illustrated in FIG. 11 and includes both mirror 1210 and dual plane mirror 1220. Illustrations made for each half cycle are applicable and identical to their corresponding half cycles in the reverse directions. It should be appreciated that the depiction of the arrows are merely illustrative.

At each position in time illustrated for mirror 1210 and dual plane mirror 1220, corresponding relative velocities are shown. Velocities of both mirror 1210 and dual plane mirror 1220 are assumed to be equal in FIG. 12 and in all subsequent discussion. As the mirrors transition from clockwise to counterclockwise motion or vice versa, the velocities of the mirrors become zero before accelerating in the opposite direction. Thus, as the mirrors approach these directional transition points, their velocities must decrease until reaching zero at their respective directional transition points. Benefits of a dual plane mirror over a single plane mirror are derived from the velocity pattern in the movement of the mirrors.

Energy is required to decelerate or accelerate a mirror such as mirror 1210 or dual plane mirror 1220. Energy required to change mirror direction increases exponentially as a function of system average velocity. Mirrors in systems such as WLMS 300 or WLMS 1000 move in order to provide vertical resolution for the light energy as it interacts with transceiver modules such as transceiver module 320 or transceiver module 1020. As illustrated in FIG. 12 , for an identical partial movement cycle of a mirror such as mirror 1210 and dual plane mirror 1220, the dual plane mirror provides two times the number of transitions as the single plane mirror. Thus, a mirror such as dual plane mirror 1220 could be designed such that it produces an identical scan rate as a mirror such as mirror 1210 at half the speed, or twice the scan rate at identical speed. This feature could either increase vertical system resolution, decrease energy consumption, or both. Due to the nonlinear increase of energy required to change directions at higher velocities, this feature becomes more beneficial the higher the frequency of scanning required by the LiDAR system design.

A third benefit of a dual plane mirror such as dual plane mirror 1220 compared to a mirror such as mirror 1210 is improved resolution distribution. For LiDAR design considerations, the more time light energy is directed to the center of polygon structures such as polygon structure 1230, the greater resolution in the center of the range, a desirable design characteristic. Velocity and exit angles are shown in FIG. 12 as mirror 1210 and dual plane mirror 1220 progress through the illustrated partial cycle over time. Mirror 1210 may produce its extreme lowest (exit beam angle 1212) and highest (exit beam angle 1211) at times t_(m,2) and t_(m,0), respectively, when the mirror's velocity reaches zero at its directional transition points. Mirror 1210 may produces exit beam angle 1213 at the center of its rotation at time t_(m,1), which corresponds to its highest velocity. Thus, for a mirror such as mirror 1210, over the illustrated movement cycle the concentration over time of exit angles, or vertical resolution, is densest at extreme low and high exit angles. Chart 1310 of FIG. 13 illustrates a distribution pattern produced by a mirror such as mirror 1210.

For a dual plane mirror such as dual plane mirror 1220, exit angles 1221 that are co-planer with a horizontal plane (shown by dashed lines) can occur at times, t_(DP,0) and t_(DP,6) and the velocity of mirror 1220 is approximately zero. After time, t_(DP,0), mirror 1220 is moving the clockwise direction. At time t_(DP,1) the velocity is approximately low-medium and exit angle 1222 exists. Exit angle 1222 may be partially negative with respect to the horizontal plane (shown by dashed lines). At time t_(DP,2) the velocity is approximately medium-high and exit angle 1223 exists. Exit angle 1223 may be max negative with respect to the horizontal plane (shown by dashed lines). At time t_(DP,3) mirror 1220 is at the transition point between planes, and also represents the point at which mirror 1220 is moving at a maximum velocity and the exit angle transitions form the max negative angle to a max positive angle. At time t_(DP,4) mirror 1220 is moving with an approximate velocity of medium-high and yields exit angle 1224, which corresponds to a max positive angle with respect to a horizontal plane (shown by dashed lines). At time t_(DP,5) mirror 1220 is moving with an approximate velocity of low-medium and yields exit angle 1225, which corresponds to a partial positive angle with respect to a horizontal plane (shown by dashed lines). At time t_(DP,6) mirror 1220 is moving with an approximate velocity of zero (as it is transitioning from clockwise rotation to counterclockwise rotation) and yields exit angle 1221, which corresponds to an angle coplanar to a horizontal plane (shown by dashed lines).

The vertical resolution produced by use of mirror 1220 results in a higher concentration of exit angles (or resolution) near the horizontal plane than any other exit angle. See chart 1320 of FIG. 13 for illustration a distribution pattern produced by a dual plane mirror such as dual plane mirror 1220.

FIG. 14 shows illustrative mirror geometries according to various embodiments. As illustrated in FIG. 12 and discussed previously, a dual plane mirror such as dual plane mirror 1220 may yield system design benefits compared to a single plane mirror such as mirror 1210. A LiDAR mirror system may be designed with three or more plane members that produce superior results compared to a dual plane mirror. Multi-plane mirror 1410, for example, may oscillate in clockwise and counterclockwise directions and contains mirror surfaces 1411, 1412, and 1413. Multi-plane mirror 1410 shows three mirror planes for illustrative purposes; multi-plane mirrors with greater than three planes are possible. This system may provide greater energy reduction and vertical resolution distribution than single or dual plane mirrors by similar reasoning described while comparing single plane mirror designs to dual plane mirror designs.

For energy reduction, the mirror of a LiDAR system may also be designed as a polygon structure rotating fully about a central axis. This design may eliminate directional transition points during scan cycles and thus may reduce system energy consumption. Polygon 1420 (three-sided), polygon 1430 (four-sided), polygon 1440 (five-sided), and polygon 1450 (six-sided) are illustrations of polygonal mirror structures that may rotate about a central axis and redirect light energy without directional transitions. These polygonal mirrors are shown for illustrative purposes; polygonal mirrors with different number of surfaces are possible.

FIG. 15 shows illustrative dual plane mirror system 1500 according to an embodiment. Mirror system 1500 is similar to system 1100 of FIG. 11 , but switches the position of the mirror and polygon structure. Mirror system 1500 can include transceiver 1510, dual plane mirror 1520, and polygon structure 1530. In this arrangement, polygon structure 1530 still provides the horizontal field of view and dual plane mirror 1520 provides the vertical field of view.

FIG. 16 shows illustrative mirror system 1600 according to an embodiment. Mirror system 1600 can include transceiver 1510, first mirror 1520, and second mirror 1530. As shown, first mirror 1520 may be a single plane mirror that oscillates in a first plane (shown here as the X plane). If desired, first mirror 1520 can be a dual plane or multiplane mirror. As also shown, second mirror 1530 may be a dual plane mirror that oscillates in a second plane (shown here as the Z plane). If desired, second mirror 1530 can be a single plane mirror. The first and second planes are orthogonal to each other. In the arrangement shown in FIG. 16 , first mirror 1620 can control the vertical field of view and second mirror 1630 can control the horizontal field of view. Using second mirror 1630 in lieu of a polygon structure enables precise control over the horizontal field of view. In some embodiments, the system can be controlled to focus laser pulses anywhere within the mirror system's field of view.

FIG. 9 is a functional block diagram illustrating a vehicle system 900, according to an example embodiment. Vehicle 900 can be configured to operate fully or partially in an autonomous mode. For example, vehicle 900 can control itself while in the autonomous mode, and may be operable to determine a current state of the vehicle and its environment, determine a predicted behavior of at least one other vehicle in the environment, determine a confidence level that may correspond to a likelihood of the at least one other vehicle to perform the predicted behavior, and control vehicle 900 based on the determined information. While in autonomous mode, the vehicle 900 may be configured to operate without human interaction.

In some embodiments, vehicle 900 can operate under solely control of a human operator, but the various sensors and systems of the vehicle and the road conditions (e.g., road and the path traveled, other vehicles, stop signs, traffic lights, various events occurring outside of the vehicle) can be monitored and recorded.

Vehicle 900 can include various subsystems such as a propulsion system 902, a sensor system 904, a control system 906, one or more peripherals 908, as well as a power supply 910, a computer system 912, and a user interface 916. Vehicle 900 may include more or fewer subsystems and each subsystem can include multiple elements. Further, each of the subsystems and elements of vehicle 900 can be interconnected. Thus, one or more of the described functions of the vehicle 900 may be divided up into additional functional or physical components, or combined into fewer functional or physical components. In some further examples, additional functional and/or physical components may be added to the examples illustrated by FIG. 9 .

Propulsion system 902 may include components operable to provide powered motion for the vehicle 900. Depending upon the embodiment, the propulsion system 902 can include an engine/motor 918, an energy source 919, a transmission 920, and wheels/tires 921. The engine/motor 918 can be any combination of an internal combustion engine, an electric motor, steam engine, Stirling engine, or other types of engines and/or motors. In some embodiments, the engine/motor 918 may be configured to convert energy source 919 into mechanical energy. In some embodiments, the propulsion system 902 can include multiple types of engines and/or motors. For instance, a gas-electric hybrid car can include a gasoline engine and an electric motor. Other examples are possible.

Energy source 919 can represent a source of energy that may, in full or in part, power the engine/motor 918. That is, the engine/motor 918 can be configured to convert the energy source 919 into mechanical energy. Examples of energy sources 919 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source(s) 919 can additionally or alternatively include any combination of fuel tanks, batteries, capacitors, and/or flywheels. The energy source 919 can also provide energy for other systems of the vehicle 900.

Transmission 920 can include elements that are operable to transmit mechanical power from the engine/motor 918 to the wheels/tires 921. To this end, the transmission 920 can include a gearbox, clutch, differential, and drive shafts. The transmission 920 can include other elements. The drive shafts can include one or more axles that can be coupled to the one or more wheels/tires 921.

Wheels/tires 921 of vehicle 900 can be configured in various formats, including a unicycle, bicycle/motorcycle, tricycle, or car/truck four-wheel format. Other wheel/tire geometries are possible, such as those including six or more wheels. Any combination of the wheels/tires 921 of vehicle 900 may be operable to rotate differentially with respect to other wheels/tires 921. The wheels/tires 921 can represent at least one wheel that is fixedly attached to the transmission 920 and at least one tire coupled to a rim of the wheel that can make contact with the driving surface. The wheels/tires 921 can include any combination of metal and rubber, or another combination of materials.

Sensor system 904 may include a number of sensors configured to sense information about an environment of the vehicle 900. For example, the sensor system 904 can include a Global Positioning System (GPS) 922, an inertial measurement unit (IMU) 924, a RADAR unit 926, a laser rangefinder/LIDAR unit 928, and a camera 930. The sensor system 904 can also include sensors configured to monitor internal systems of the vehicle 900 (e.g., 02 monitor, fuel gauge, engine oil temperature). Other sensors are possible as well.

One or more of the sensors included in sensor system 904 can be configured to be actuated separately and/or collectively in order to modify a position and/or an orientation of the one or more sensors.

GPS 922 may be any sensor configured to estimate a geographic location of the vehicle 900. To this end, GPS 922 can include a transceiver operable to provide information regarding the position of the vehicle 900 with respect to the Earth.

IMU 924 can include any combination of sensors (e.g., accelerometers and gyroscopes) configured to sense position and orientation changes of the vehicle 900 based on inertial acceleration.

RADAR unit 926 may represent a system that utilizes radio signals to sense objects within the local environment of the vehicle 900. In some embodiments, in addition to sensing the objects, the RADAR unit 926 may additionally be configured to sense the speed and/or heading of the objects. Similarly, laser rangefinder or LIDAR unit 928 may be any sensor configured to sense objects in the environment in which the vehicle 900 is located using lasers. Depending upon the embodiment, the laser rangefinder/LIDAR unit 928 can include one or more laser sources, a laser scanner, and one or more detectors, among other system components. The laser rangefinder/LIDAR unit 928 can be configured to operate in a coherent (e.g., using heterodyne detection) or an incoherent detection mode.

Camera 930 can include one or more devices configured to capture a plurality of images of the environment of vehicle 900. Camera 930 can be a still camera or a video camera.

Control system 906 may be configured to control operation of vehicle 900 and its components. Accordingly, control system 906 can include various elements include steering unit 932, throttle 934, brake unit 936, a sensor fusion algorithm 938, a computer vision system 940, a navigation/pathing system 942, and an obstacle avoidance system 944.

Steering unit 932 can represent any combination of mechanisms that may be operable to adjust the heading of vehicle 900. Throttle 934 can be configured to control, for instance, the operating speed of the engine/motor 918 and, in turn, control the speed of the vehicle 900. Brake unit 936 can include any combination of mechanisms configured to decelerate the vehicle 900. Brake unit 936 can use friction to slow wheels/tires 921. In other embodiments, the brake unit 936 can convert the kinetic energy of wheels/tires 921 to electric current. The brake unit 936 may take other forms as well. The brake unit 936 may control braking of the vehicle 900, for example, using a braking algorithm that takes into account input from one or more units of the sensor system 904.

Sensor fusion algorithm 938 may be an algorithm (or a computer program product storing an algorithm) configured to accept data from the sensor system 904 as an input. The data may include, for example, data representing information sensed at the sensors of the sensor system 904. The sensor fusion algorithm 938 can include, for instance, a Kalman filter, Bayesian network, or other algorithm. The sensor fusion algorithm 938 can further provide various assessments based on the data from sensor system 904. Depending upon the embodiment, the assessments can include evaluations of individual objects and/or features in the environment of vehicle 900, evaluation of a particular situation, and/or evaluate possible impacts based on the particular situation. Other assessments are possible.

Computer vision system 940 may be any system operable to process and analyze images captured by camera 930 in order to identify objects and/or features in the environment of vehicle 900 that can include traffic signals, road way boundaries, and obstacles. Computer vision system 940 can use an object recognition algorithm, a Structure From Motion (SFM) algorithm, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 940 can be additionally configured to map an environment, track objects, estimate the speed of objects, etc.

Navigation and pathing system 942 may be any system configured to determine a driving path for the vehicle 900, for example, by referencing navigation data such as geographical or map data. The navigation and pathing system 942 may additionally be configured to update the driving path dynamically while the vehicle 900 is in operation. In some embodiments, the navigation and pathing system 942 can be configured to incorporate data from the sensor fusion algorithm 938, the GPS 922, and one or more predetermined maps so as to determine the driving path for vehicle 900. Obstacle avoidance system 944 can represent a control system configured to identify, evaluate, and avoid or otherwise negotiate potential obstacles in the environment of the vehicle 900. Control system 906 may additionally or alternatively include components other than those shown and described.

Peripherals 908 may be configured to allow interaction between the vehicle 900 and external sensors, other vehicles, other computer systems, and/or a user. For example, peripherals 908 can include a wireless communication system 946, a touchscreen 948, a microphone 950, and/or a speaker 952. In an example embodiment, peripherals 908 can provide, for instance, means for a user of the vehicle 900 to interact with the user interface 916. To this end, touchscreen 948 can provide information to a user of vehicle 900. User interface 916 can also be operable to accept input from the user via the touchscreen 948. The touchscreen 948 may be configured to sense at least one of a position and a movement of a user's finger via capacitive sensing, resistance sensing, or a surface acoustic wave process, among other possibilities. Touchscreen 948 may be capable of sensing finger movement in a direction parallel or planar to the touchscreen surface, in a direction normal to the touchscreen surface, or both, and may also be capable of sensing a level of pressure applied to the touchscreen surface. Touchscreen 948 may be formed of one or more translucent or transparent insulating layers and one or more translucent or transparent conducting layers. Touchscreen 948 may take other forms as well.

In other instances, peripherals 908 may provide means for the vehicle 900 to communicate with devices within its environment. Microphone 950 may be configured to receive audio (e.g., a voice command or other audio input) from a user of vehicle 900. Similarly, speakers 952 may be configured to output audio to the user of vehicle 900.

In one example, wireless communication system 946 can be configured to wirelessly communicate with one or more devices directly or via a communication network. For example, wireless communication system 946 can use 3G cellular communication, such as CDMA, EVDO, GSM/GPRS, or 4G cellular communication, such as WiMAX or LTE. Alternatively, wireless communication system 946 can communicate with a wireless local area network (WLAN), for example, using WiFi. In some embodiments, wireless communication system 946 can communicate directly with a device, for example, using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various vehicular communication systems, are possible within the context of the disclosure. For example, the wireless communication system 946 can include one or more dedicated short range communications (DSRC) devices that can include public and/or private data communications between vehicles and/or roadside stations.

Power supply 910 may provide power to various components of vehicle 900 and can represent, for example, a rechargeable lithium-ion or lead-acid battery. In some embodiments, one or more banks of such batteries can be configured to provide electrical power. Other power supply materials and configurations are possible. In some embodiments, the power supply 910 and energy source 919 can be implemented together, as in some all-electric cars.

Many or all of the functions of vehicle 900 can be controlled by computer system 912. Computer system 912 may include at least one processor 913 (which can include at least one microprocessor) that executes instructions 915 stored in a non-transitory computer readable medium, such as the data storage 914. Computer system 912 may also represent a plurality of computing devices that may serve to control individual components or subsystems of the vehicle 900 in a distributed fashion.

In some embodiments, data storage 914 may contain instructions 915 (e.g., program logic) executable by processor 913 to execute various functions of vehicle 900, including those described above in connection with FIG. 9 . In some embodiments, processor 913 may be operative to run an artificial intelligence (AI) engine, for example, to control the various systems of the vehicle 900. Data storage 914 may contain additional instructions as well, including instructions to transmit data to, receive data from, interact with, and/or control one or more of propulsion system 902, sensor system 904, control system 906, and peripherals 908. In addition to instructions 915, data storage 914 may store data such as roadway maps, path information, among other information. Such information may be used by vehicle 900 and computer system 912 at during the operation of vehicle 900 in the autonomous, semi-autonomous, and/or manual modes.

Vehicle 900 may include a user interface 916 for providing information to or receiving input from a user of vehicle 900. User interface 916 can control or enable control of content and/or the layout of interactive images that can be displayed on the touchscreen 948. Further, user interface 916 can include one or more input/output devices within the set of peripherals 908, such as wireless communication system 946, touchscreen 948, microphone 950, and the speaker 952.

Port 960 may be a port through which vehicle 900 receives power to charge power supply 910 and to communicate data stored in data store 914.

Computer system 912 may control the function of vehicle 900 based on inputs received from various subsystems (e.g., propulsion system 902, sensor system 104, and control system 906), as well as from user interface 916. For example, computer system 912 may utilize input from control system 906 in order to control steering unit 932 to avoid an obstacle detected by sensor system 904 and obstacle avoidance system 944. Depending upon the embodiment, computer system 912 can be operable to provide control over many aspects of vehicle 900 and its subsystems.

The components of vehicle 900 can be configured to work in an interconnected fashion with other components within or outside their respective systems. For instance, in an example embodiment, camera 930 can capture a plurality of images that can represent information about a state of an environment of vehicle 900 operating in an autonomous or manual mode. The environment can include every conceivable type of data that can be observed and collected by vehicle 900. For example, the environment can include the road and all aspects associated with the road such as temperature, composition of the road (e.g., concrete or asphalt), moisture level, lanes, curbs, turn lanes, cross walks, stop lights, stop signs, yield signs and other traffic signs, and barricades. The environment can include objects such as other vehicles, people, random debris in or adjacent to the road.

Computer system 912 can monitor and log the environmental inputs in conjunction with operational states of the vehicle. The operational states can refer to operational and control parameters of the vehicle such as speed, trajectory, steering input, acceleration input, and brake input, and also can include results of driver input or AI driver input. This way, regardless of whether the vehicle is operating in autonomous mode or under human control, computer system 912 can simultaneously log the environmental inputs and the operational states to provide a comprehensive vehicle log.

The vehicle log data acquired from the vehicle using embodiments discussed herein can be used in a number of different ways. For example, the vehicle log data and results from either manual driving data or autonomous driving data that is contains can be used to train vehicle AI offline based on actual recorded data and actual decisions made and the results of those decisions. The vehicle log data from one vehicle may include data pertaining to hundreds, thousands, or hundreds of thousands of driving miles. Thus, the data acquired from just one vehicle is a relatively rich environment for training vehicle AI. The training data may be further enriched by aggregating vehicle log data from numerous vehicles and users, thus providing additional resources for training and improving vehicle AI. The aggregated vehicle log data can represent hundreds of thousands, millions, or an ever increasing number of trips, across various road conditions and driving situations, and the actions taken in response thereto that can be used to train the AI.

In addition, the AI training can occur offline and not during real driving conditions. This way, the vehicle AI can run simulations based on the aggregated vehicle logs to without having to actually drive the vehicle. In some embodiments, the vehicle AI may be fed road conditions and driving situations as inputs, and the results performed by the vehicle AI may be compared to the actual results stored in the log. The vehicle AI can be trained based on a comparison of the results.

The vehicle log data, which includes sensor specific data gathered during a trip as well as all of the decisions and outcomes of those decisions, can be part of the information that the vehicle AI uses to train. In some embodiments, the results of the AI training can include what sensors are needed in the vehicle (and where they are located) and what sensors are not. For example, AI training can be performed with log data having a sensor (e.g., camera) in a first location on the vehicle and a second location on the vehicle. The results of AI driving performance based on both sensor locations can be compared and decisions can be made as to which sensor configuration yields the better result. This sensor based training can be used to evaluate an infinite number of sensor configurations, and the vehicle AI can be tuned to work with one or more of those sensor configurations.

The aggregate vehicle log data may be used to provide additional information regarding the wear and tear on vehicles overall. For example, if the brakes are worn down to 30% of normal, the vehicle log data can reflect how the vehicle reacts when these brakes are applied. The vehicle AI can be trained to take wear and tear into account and can adjust vehicle operation to compensate for that wear and tear. For example, the vehicle AI may cause the brakes to be applied earlier if the brake wear is below a certain threshold.

The vehicle log data, which may contain serval gigabytes or terabytes of data, can be transferred to a remote server (not shown) for further analysis. For example, the log may be transferred from data storage 914 to data storage associated with remote server.

The remote server may include an autonomous vehicle driving platform that can apply analytics (e.g., similar to some of the examples discussed above) to the log. The autonomous vehicle driving platform (AVDP) may include one or more algorithms capable of autonomously controlling operation of a vehicle. In one embodiment, the AVDP may assess the log to determine whether any updates or modifications are needed for the one or more algorithms to improve autonomous vehicle operation. In another embodiment, the AVDP may use the log to build one or more algorithms that can autonomously control operation of a vehicle. In yet another embodiment, the AVDP run simulations using the environmental inputs received in the log and compare the simulation results to the actual monitored actions of the vehicle (which are also included in the log).

Although FIG. 9 shows various components of vehicle 900, i.e., wireless communication system 946, computer system 912, data storage 914, and user interface 916, as being integrated into vehicle 900, one or more of these components can be mounted or associated separately from the vehicle 900. For example, data storage 914 can, in part or in full, exist separate from vehicle 900. Thus, vehicle 900 can be provided in the form of device elements that may be located separately or together. The device elements that make up vehicle 900 can be communicatively coupled together in a wired and/or wireless fashion.

It is believed that the disclosure set forth herein encompasses multiple distinct inventions with independent utility. While each of these inventions has been disclosed in its preferred form, the specific embodiments thereof as disclosed and illustrated herein are not to be considered in a limiting sense as numerous variations are possible. Each example defines an embodiment disclosed in the foregoing disclosure, but any one example does not necessarily encompass all features or combinations that may be eventually claimed. Where the description recites “a” or “a first” element or the equivalent thereof, such description includes one or more such elements, neither requiring nor excluding two or more such elements. Further, ordinal indicators, such as first, second or third, for identified elements are used to distinguish between the elements, and do not indicate a required or limited number of such elements, and do not indicate a particular position or order of such elements unless otherwise specifically stated.

Moreover, any processes described with respect to FIGS. 1-14 , as well as any other aspects of the invention, may each be implemented by software, but may also be implemented in hardware, firmware, or any combination of software, hardware, and firmware. They each may also be embodied as machine- or computer-readable code recorded on a machine- or computer-readable medium. The computer-readable medium may be any data storage device that can store data or instructions which can thereafter be read by a computer system. Examples of the computer-readable medium may include, but are not limited to, read-only memory, random-access memory, flash memory, CD-ROMs, DVDs, magnetic tape, and optical data storage devices. The computer-readable medium can also be distributed over network-coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. For example, the computer-readable medium may be communicated from one electronic subsystem or device to another electronic subsystem or device using any suitable communications protocol. The computer-readable medium may embody computer-readable code, instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and may include any information delivery media. A modulated data signal may be a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal.

It is to be understood that any or each module or state machine discussed herein may be provided as a software construct, firmware construct, one or more hardware components, or a combination thereof. For example, any one or more of the state machines or modules may be described in the general context of computer-executable instructions, such as program modules, that may be executed by one or more computers or other devices. Generally, a program module may include one or more routines, programs, objects, components, and/or data structures that may perform one or more particular tasks or that may implement one or more particular abstract data types. It is also to be understood that the number, configuration, functionality, and interconnection of the modules or state machines are merely illustrative, and that the number, configuration, functionality, and interconnection of existing modules may be modified or omitted, additional modules may be added, and the interconnection of certain modules may be altered.

Whereas many alterations and modifications of the present invention will no doubt become apparent to a person of ordinary skill in the art after having read the foregoing description, it is to be understood that the particular embodiments shown and described by way of illustration are in no way intended to be considered limiting. Therefore, reference to the details of the preferred embodiments is not intended to limit their scope. 

1-31. (canceled)
 32. A light detection and ranging (LiDAR) system for use with a vehicle, comprising: a transmitter comprising: a plurality of semiconductor based light emitters configured to generate light energy, and a lens group that collimates the generated light energy, wherein the transmitter is configured to direct the generated light energy along a plurality of different angles, the combination of the plurality of different angles forming at least a part of a vertical angle range of a field of view of the LiDAR system; a receiver configured to receive light energy reflected from an object within the field of view of the LiDAR system; a polygon structure that defines a horizontal angle range of the field of view of the LiDAR system; and one or more mirrors configured to redirect light energy passing between the transmitter and the polygon structure, and to redirect light energy passing between the polygon structure and the receiver.
 33. The LiDAR system of claim 32, wherein the one or more mirrors comprise at least one fixed or moveable mirror.
 34. The LiDAR system of claim 33, wherein the one or more mirrors move in a translatable or rotating manner.
 35. The LiDAR system of claim 32, wherein the plurality of semiconductor based light emitters generate laser pulses sequentially or simultaneously.
 36. The LiDAR system of claim 32, wherein the plurality of different angles are non-overlapping.
 37. The LiDAR system of claim 32, wherein a gap exists in between each of the plurality of different angles, and wherein the one or more mirrors are configured to redirect light energy in a manner that accounts for the gap in between each of the plurality of different angles.
 38. The LiDAR system of claim 32, wherein no gap exists in between each of the plurality of different angles.
 39. The LiDAR system of claim 32, wherein the receiver comprises a detector group, the detector group comprising at least one detection circuit for each of the plurality of different angles.
 40. The LiDAR system of claim 39, wherein the detector group comprises a plurality of detector subgroups, each of the plurality of detector subgroups configured to cover returning angles from each lens in the lens group.
 41. The LiDAR system of claim 32, wherein the polygon structure is configured to rotate about an axis in a first direction at a substantially constant speed.
 42. The LiDAR system of claim 41, wherein the rotation axis is coincident to or different to the symmetric axis of the polygon structure.
 43. The LiDAR system of claim 32, wherein the polygon structure is masked.
 44. The LiDAR system of claim 32, wherein the polygon structure is trimmed to include chamfers to improve operation.
 45. The LiDAR system of claim 32, further comprising housing to house the transmitter system, the receiver system, the polygon structure, and the one or more mirrors, wherein the housing is configured to be mounted to a windshield or other structure on the vehicle.
 46. A method for using a LiDAR system comprising a transmitter, a receiver, a polygon structure, and one or more mirrors, the transmitter comprising a plurality of semiconductor based light emitters and a lens group, the method comprising: generating, by the plurality of semiconductor based light emitters, light energy; collimating, by the lens group, the generated light energy; directing, by the transmitter, the generated light energy along a plurality of different angles, the combination of the plurality of different angles forming at least a part of a vertical angle range of a field of view of the LiDAR system; defining, by the polygon structure, a horizontal angle range of the field of view of the LiDAR system; redirecting, by the one or more mirrors, light energy passing between the transmitter and the polygon structure, and light energy passing between the polygon structure and the receiver; and receiving, by the receiver, light energy reflected from an object within the field of view of the LiDAR system.
 47. The method of claim 46, wherein the one or more mirrors comprise at least one fixed or moveable mirror.
 48. The method of claim 46, wherein generating, by the plurality of semiconductor based light emitters, light energy comprises generating laser pulses sequentially or simultaneously.
 49. The method of claim 46, wherein a gap exists in between each of the plurality of different angles, and wherein the one or more mirrors are configured to redirect light energy in a manner that accounts for the gap in between each of the plurality of different angles.
 50. The method of claim 46, wherein the receiver comprises a detector group, the detector group comprising at least one detection circuit for each of the plurality of different angles.
 51. The method of claim 50, wherein the detector group comprises a plurality of detector subgroups, each of the plurality of detector subgroups configured to cover returning angles from each lens in the lens group. 